Development of opensource data analysis toolbox for underwater vehicles

 Description: Combine existing Python and Matlab functions into a userfriendly toolbox for processing data from underwater vehicles. Create a visualization environment, data export tools, and analysis options. Link the toolkits to the online databases to enable realtime processing.
 Skills: Software: Matlab, Python, C, PHP, 3D Simulation
 No. of Students: 1  2
 Level: 4th year, Master's

Control and Applications for multiple rolling robots

 Description: The Sphero is a new consumeravailable robot that is controlled with a smart phone. The robot is a polycarbonate sphere that rolls through its environment. This project is interested in the development of multiagent control algorithms for coordination and other applications.
 Skills: Software: Matlab, Python, Embedded Systems, Android or iOS development
 No. of Students: 1  2
 Level: 4th year, Master's

Autonomous Underwater LEGO Vehicle, design and control development

 Description: Develop and construct the necessary hardware for safe, autonomous operation of a LEGO MindStorms robot underwater. Create a smartphone application to interface with the vehicle for remote and autonomous control that is based on the NXT software package.
 Skills: Basic hydrodynamics with some software and electronics experience
 No. of Students: 1
 Level: 4th year, Master's

Extend existing 2D path planning algorithms(s) to a 3D planner

 Description: Extend existing results of 2D path planning algorithms to a 3D counterpart. Develop a simulation environment to test the extensions, and test the extensions using realworld datasets, and potentially field robots.
 Skills: Software: Matlab, C; Mathematics: Linear Algebra, Basic Calculus
 No. of Students: 1  2
 Level: Master's, PhD

Develop a regression model for predicting the motion of autonomous surface vehicles

 Description: Analyse data gathered from multiple deployments and develop a predictive model for the vehicle speed given a set of known input parameters.
 Skills: Software: MatLab, C++; Mathematics: Linear Algebra, Calculus, Statistics
 No. of Students: 1
 Level: 4th year, Master's

Next Best View

 Description: Given a set of observations from a mobile sensor platform, develop the algorithms necessary to determine the "next best view" of the scene to provide maximal information gain while accounting for the kinematic constraints of the vehicle.
 Skills: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
 No. of Students: 1  2
 Level: Master's, PhD

LargeScale mosaics of 3D imagebased reconstructions

 Description: Imagebased reconstruction is at the nexus of computer vision and environmental monitoring. This project will develop the tools necessary to create largescale, 3D reconstructions from multicamera imagery in a time efficient method.
 Skills: Software: MatLab, C++, GPU; Mathematics: Linear Algebra, Graph Theory, Calculus
 No. of Students: 1  2
 Level: Master's, PhD

Develop Coverage Algorithms for Aquatic Vehicles

 Description: Consider multiple approaches to solving the coverage problem for largescale aquatic monitoring using a heterogeneous fleet of aquatic robots. Develop a method and design a controller to be implemented on autonomous vehicles.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
 No. of Students: 1  2
 Level: Master's, PhD

ROS Development for AUVs

 Description: Develop new ROS nodes and extend the functionality of ROS for autonomous underwater vehicles.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus
 No. of Students: 1  2
 Level: 4th year, Master's, PhD

Path Planning based on 3D Reconstructions

 Description: Develop tools to plan optimal paths for AUVs to collect image data for 3D reconstructions of aquatic environments.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory, Gaussian Processes
 No. of Students: 1
 Level: Master's, PhD

LowLevel Controller Design

 Description: Develop a novel, lowlevel controller for a torpedoshaped AUV to perform basic operations at sea.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Control Theory
 No. of Students: 1
 Level: 4th year, Master's, PhD

Adaptive Sampling for Environmental Monitoring

 Description: Develop tools for conducting adaptive and reactive sampling missions for specific applications in aquatic environmental monitoring applications.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
 No. of Students: 1  2
 Level: 4th year, Master's, PhD

Persistent Monitoring Applications and Algorithms

 Description: Consider applications for longterm persistent monitoring of aquatic ecosystems and develop algorithms that will control vehicles for long periods of time in a dynamic and uncertain environment.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
 No. of Students: 1 2
 Level: Master's, PhD

Decision Support System (DSS)

 Description: Develop a userinterface for humanintheloop control of deployed assets for the application of largescale aquatic monitoring.
 Skills: Software: Software: MatLab, C++, Java, Database Management; Mathematics: Linear Algebra, Calculus, Statistics
 No. of Students: 1
 Level: 4th year, Master's

Geometric Control and Path Planning

 Description: Extend current results in Geometric Control Theory for implementation onto AUVs for applications in path planning for aquatic monitoring or 3D reconstruction.
 Skills: Software: Software: MatLab, C++; Mathematics: Linear Algebra, Calculus, Graph Theory, Differential Geometry, Control Theory
 No. of Students: 1
 Level: Master's, PhD

Probabilistic Path Planning

 Description: Develop tools to consider path planning from a probabilistic pointofview. Applications are openended, however path planning related to aquatic vehicles is strongly encouraged
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
 No. of Students: 1  2
 Level: Master's, PhD

Pose Estimation and Localisation for Aquatic Vehicles

 Description: Given the constraints of operating underwater or in GPSdenied environments, develop tools to extend the stateoftheart in pose estimation and localisation for aquatic robots.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
 No. of Students: 1  2
 Level: 4th year, Master's, PhD

Novel Aquatic Vehicle Development and Demonstration

 Description: Design, fabricate, test and demonstrate a novel vehicle for use in marine applications.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus; Basic hydrodynamics
 No. of Students: 1  2
 Level: 4th year, Master's, PhD

Hardware Upgrade to Existing Robotic Platforms

 Description: Integrate, troubleshoot and benchtest new sensors and hardware for existing robotic platforms.
 Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus; Handson experience with robotics is a must
 No. of Students: 1  2
 Level: 4th year, Master's
